move.mod

MODULE Server
    PERS tooldata myTool:=[TRUE,[[0,0,1],[1,0,0,0]],[1,[0,0,0.1],[1,0,0,0],0,0,0]];
    TASK PERS wobjdata myWobj:=[FALSE,TRUE,"",[[400,0,400],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
    !CONST robtarget myRobtarget:=[[0,0,0],[0.707107,0,0.707107,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    VAR robtarget myRobtarget:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    VAR socketdev server_socket;
    VAR socketdev client_socket;
    
    PROC main()
        ! SocketCreate server_socket;
        
        
        ! Move all axis into their start position.
        MoveAbsJ [[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]],vmax,z0,tool0;
        
        ! We turn of `Configuration Joint` and `Configuration Linear` which 
        ! means that the robot can use different confirations than that which 
        ! was programmed. 
        ConfJ\Off;
        ConfL\Off;
        
        ! Rotate the `tcp` around the world Y-axis so that X will point 
        ! down and Z forwad. This gives us move freedom to move the 
        ! robot. 
        myRobtarget.rot := OrientZYX(0, 90, 0); 
        MoveJ myRobtarget,vmax,fine,tool0\WObj:=myWobj;
        
        MoveL Offs(myRobtarget,0, -680, -300),vmax,z0,tool0, \WObj:=myWobj;
        MoveL Offs(myRobtarget,0, 680, -300),vmax,z0,tool0, \WObj:=myWobj;
        MoveL Offs(myRobtarget,0, 680, 220),vmax,z0,tool0, \WObj:=myWobj;
        MoveL Offs(myRobtarget,0, -680, 220),vmax,z0,tool0, \WObj:=myWobj;
        ! Move the robot using the coordinates of the tool. In the current situation
        ! X is pointing up/down, Y left right. 
        ! MoveL RelTool(myRobtarget, 0, -600, 0\Rx:=-30), vmax, z0, tool0, \WObj:=myWobj;
        ! MoveL RelTool(myRobtarget, 0, 600, 0\Rx:=30), vmax, z0, tool0, \WObj:=myWobj;
     
    ENDPROC
    ! Socket communication: http://forums.robotstudio.com/discussion/2613/socket-communication-in-robot-studio
    
    ! The code below can be read as follows:
    ! The `myRobTarget` is the position to which the `tcp` should be moved relative to the 
    ! given `myWobj`. The `myWobj` defines the orientation in which we will move. By using this
    ! optional `WObj` we make sure that the 0,0,0 is relative to `myWobj`, so this is just [400,0,400]
!    TASK PERS wobjdata myWobj:=[FALSE,TRUE,"",[[400,0,400],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
!    CONST robtarget myRobtarget:=[[0,0,0],[0.707107,0,0.707107,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
!    
!    object.rot := OrientZYX(0, 90, 0);
!    TPWrite "O.q1: "\Num:=object.rot.q1;  ! prints 0.707107
!    TPWrite "O.q2: "\Num:=object.rot.q2;  ! prints 0      
!    TPWrite "O.q3: "\Num:=object.rot.q3;  ! prints 0.707107
!    MoveJ myRobtarget,vmax,fine,tool0\WObj:=myWobj;

! Sockets http://forums.robotstudio.com/discussion/comment/23263#Comment_23263
    
ENDMODULE